Erector mechanism



11 Sheets-Sheet 1 Filed Feb. 15, 1961 ORNE March 22, 1966 T. w. KENYONERECTOR MECHANISM 11 Sheets-Sheet 2 Filed Feb. 15, 1961 m INVENJPQ.

TTORNE March 22, 1966 Filed Feb. 15, 1961 T. w. KENYON EREOTOR MECHANISM11 Sheets-Sheet 5 NVENTO @Leaclme LU. P?

March 22, 1966 T. w. KENYON EREGTOR MECHANISM 11 Sheets-Sheet 4.

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ATTORNE 5 March 22, 1966 T. w. KENYON 3,241,378

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EREC'I'OR MECHANISM Filed Feb. 15, 1961 ll Sheets-Sheet 9 March 22, 1966T. w. KENYON ERECTOR MECHANISM Filed Feb. 15, 1961 11 SheetsSheet 1O nIN VEbilb'RF. 1

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.Ke nymu BY a Q ATTORNEY5 United States Patent 3,241,378 ERECTORMECHANISM Theodore W. Kenyon, R.F.D. 2, Old Lyme, Conn. Filed Feb. 15,1961, Ser. No. 89,545 16 Elaims. (Cl. 74-543) This invention relates toan erection device for a vertical gyroscope and more particularly to anerection system which is achieved uniquely by utilizing reaction forcesof jets of liquid emanating from ports into liquid of the samecomposition surrounding the entire gyro gimballing system.

Objects and features of this invention are the provision of a novelerection system for a gyroscope utilizing reaction forces of jets ofliquid emanating from ports into liquid of the same compositionsurrounding the entire gyro gimballing system which is covered by aclosing container.

Other objects and features of this invention are the provision of novelmeans for directing jet fluid to said outlets or ports, novel valvemeans for controlling the discharge of jet fluid from selected of saidoutlets, novel gravitationally controlled sensor means for controllingoperation of said valve means, novel negative feedback means foropposing movement of the gravitationally controlled sensor means andbalancer weight means together with means for altering relativepositions of said balancing weight means and also the provision ofpumping means within the container for directing jet fluid from thecontainer for use as the erector jet fluid.

Additional objects and features of the invention are the provision ofnovel jet fluid operated erector means for gyroscopes and novel controlsfor the jet fluid erector streams emanating from jet fluid portspositioned to provide erector action by reaction forces of jet fluidemanating from the ports into confined liquid of the same compositionsurrounding the entire gyro gimballing system.

Yet other objects and features of the invention are the provision of anovel method of effecting gyro erecting action of a gyroscope.

Still other objects and features of the invention are the provision ofeffective and relatively simple structural components for effecting theaforedescribed erecting action.

Further objects and features of the invention are the provision of areadily assembled arrangement that is trouble free in operation andfully effective in producing erecting action with minimal input powerand minimal fluid volume in the erector system.

Other objects and features of the invention will become apparent fromthe following specification and the accompanying drawings forming a parthereof wherein:

FIGURE 1 is a schematic section of an erection system embodying theinvention with parts shown in one control position;

FIGURE 2 is a similar schematic view with the parts in a second controlposition;

FIGURE 3 is a perspective view, partially broken away of a workingembodiment of the invention;

FIGURE 4 is a vertical sectional view taken along the plane of line 4-4of FIGURE 3;

FIGURE )5 is a fragmentary vertical sectional view taken along the planeof line 5-5 of FIGURE 3;

FIGURE 6 is a fragmentary horizontal sectional view taken along theplane of line 6-6 of FIGURE 4;

FIGURE 7 is a fragmentary horizontal sectional view taken along theplane of line 7-7 of FIGURE 4;

FIGURE 8 is a fragmentary vertical sectional view taken along the planeof line 88 of FIGURE 4;

FIGURE 9 is a fragmentary vertical perspective view taken along theplane of line 99 of FIGURE 5;

3,241,378 Patented Mar. 22, 1966 FIGURE 10 is an enlarged fragmentaryvertical sectional view of valve details shown in FIGURE 5;

FIGURE 11 is a horizontal sectional view taken along the plane of line11-11 of FIGURE 5;

FIGURE 12 is a fragmentary partially sectionalized perspective view ofan outer gimbal bearing suport;

FIGURE 13 is a plan view of the erector body block;

FIGURE 14 is an elevational view of the said block along the plane ofline 1414 of FIGURE 7;

FIGURE 15 is an elevational view of the said block seen along the planeof line 15-15 of FIGURE 13;

FIGURE 16 is a fragmentary sectional view taken along the plane of line1616 of FIGURE 15;

FIGURE 17 is a fragmentary sectional view similar to that of FIGURE 16taken along the plane of line 1717 of FIGURE 14;

FIGURE 18 is a transverse sectional view of the base plate of theerection device;

FIGURE 19 is a plan view of said base plate viewed from the right ofFIGURE 18;

FIGURE 20 is a longitudinal sectional view of a slide valve sleeve ofthe device seen along the plane of line 2020 of FIGURE 4;

FIGURE 21 is an end elevation of the element of FIGURE 20 seen from theright of FIGURE 20;

FIGURE 22 is a perspective view of the right end of the element ofFIGURE 20;

FIGURE 23 is a longitudinal section of a piston element contained withinthe slide valve sleeve of FIGURE 20;

FIGURE 24 is a fragmentary vertical section taken along the plane ofline 2424 of FIGURE 7;

FIGURE 25 is a fragmentary vertical section taken along the plane ofline 25-25 of FIGURE 7 and viewed from the left in the direction of thearrows;

FIGURE 26 is an enlarged fragmentary horizontal section taken along theplane of line 2626 of FIGURE 10; and

FIGURE 27 is a schematic circuit diagram of the electrical drive systemof a gyroscope equipped with the erector arrangement of this invention;

FIGURE 28 is an elevational view of a detail of the erector system;

FIGURE 29 is an elevational view of a further detail of said erectorsystem;

FIGURE 30 is an elevational view of a. block receiver detail of thevalve-operating system;

FIGURE 31 is a section taken along the plane of line 31-31 of FIGURE 30;and

FIGURE 32 is a section taken along the plane of line 32-32 of FIGURE 30.

Schematic system (FIGURES .1-3)

Referring now to the drawings and first to FIGURES 1, 2 and 3, thereference character 10 denotes an enclosing casing filled entirely witha high specific gravity, preferably transparent, liquid 11 for exampleDow-Corning Silicone #200 which is non-corrosive and non-conductive. Anyother similar liquid may be used.

The casing 10 also includes a gyroscope G which includes a jet typeerector system 12 for each of two mutually perpendicular XX and Y-Ygimbal axes, only one of said systems 12 for the X-X gimbal axis beingshown because the one for the Y-Y axis is identical. Also mounted withinthe casing 10 and completely submerged in the liquid 11 are a motor 13,and a pump 14 driven by the motor 13. A filter 15 is connected to thepump intake line 16 so that liquid drawn in at the intake 17 of thefilter 15 must necessarily pass through the latter prior to its transitthrough the pump and ejection at the delivery conduit 18 of the pump.

Operation of the pump 14 by its motor 13 forces fluid under pressure tothe input passageway 19 of the erector system 12. This passageway 19opens into the wall of a cylindrical bore 20 in the housing 21 of theerector system 12. A tubular valve seat 22 is mounted in the bore 20 andis maintained in a fixed position therein as by a force fit. Thelongitudinal axis bb of valve seat 22 is aligned in parallelism with theYY gimbal axis of gyro G as will be described. End plugs or caps 23 and23a close oif opposite ends of said bore 20. A port 24 in the valve seat22 registers with the inner terminal of the input passageway 19 and ispreferably centrally located relative to the length of the bore of saidvalve seat 22. Equispaced ports 25 and 26 at opposite sides of the port24 register respectively with erection jet passages 27 and 28 whoseoutlet openings 27a and 28a open in opposite directions along the YYaxis in the upper portions 21a and 21b of the housing 21. Additionalannular liquid power input ports29 and 30 are provided adjacent oppositeends of the valve seat 22. These ports 29 and 30 communicate throughinlet passageways 29a and 3th: in housing 21 respectively with theseparate conduits 31 and 32. The terminals 31a and 32a of these conduits31 and 32 are connected at opposite faces of a block receiver 33 whichis fixedly mounted in any suitable way. These terminals communicaterespectively with passageways 34 and 34a in the block receiver 33. Thepassageways 34 and 34a terminate at open mouths 34b and 340 in the upperface of the block receiver 33 being separated by a partition 34d adistance of approximately a few hundredths of an inch, for example.032".

A cylindrical tubular piston power valve 35 having oppositely locatedhead portions 36 and 37 is mounted slidably within the tubular valveseat 22. This power valve 35 is shorter in length than valve seat 22 sothat it may slide along axis b-b reciprocally to and fro between the endcaps 23 and 23a that close the ends of bore 29 and valve seat 22. Theends of head portions 36 and 37 are provided with stop members 36a and37a. A partition 36b divides the tubular bore of valve 35 into twoseparate chambers opening respectively towards the opposite ends oftubular valve seat 22.

A stern part 35a of the valve 35 lying between the pair of head portions36 and 37 is of smaller diameter than the interior of the valve seat 22and with the inner surface of the latter defines an annular chamber 38.This chamber 38 is in direct communication at all times with the inputport 24 in valve seat 22 and input passageway 19 so that chamber 38 isalways filled with liquid under pressure which is delivered to saidpassageway 19 by the pump 14.

The head portions 36 and 37 normally when valve 35 is centrallizedalmost close off the respective ports 25 and 26. Since the power valve35 is shorter than the length of valve seat 22, it with its partition3617 thus provides oppositely located chambers 39 and 40 between thepartition 36b and plug 23 and partition 36!) and end plug 23a. Thesechambers 39 and 40 communicate directly with the respective annularports 29 and 30 in valve seat 22. The inlet passageways 29a and 30a inthe housing 21 also are in direct communication with the ports 29 and 30and thus permit valve operating fluid to enter or bleed from thechambers 39 and 40 as required to effect reciprocal shift of the valve35 as will hereinafter be described. The open mouths 34b and 340 in theupper face of block receiver 33 serve as valve operating fluid powerintake ports for the valve operating fiuid which is delivered to them aswill be presently described.

An outlet port 41 is provided in the valve seat 22 lying substantiallydiametrically opposite the intake port 24. Outlet port 41 communicateswith a passageway 42 in housing 21 which is extended laterally of theaxial direction of valve seat 22 and downwardly toward the two intakeholes or openings 34b and 340 in block receiver 33, said passagewayterminating in a fixed venturi-like jet nozzle 43 whose outlet 43a liesa substantial distance above the opening mouths 34b and 340. The saidpower delivery jet outlet 43:: of the fixed jet nozzle 43 projects intothe inlet or mouth of a movable venturi-like jet 44 whose outlet orifice44a is normally maintained substantially centrally located above theupper face of the partition 34d between the two open .inlet mouths 34band 340 in the upper face of block receiver 33. The two jets 4-3 and 44are surrounded by a tubular random flow shield 45 which projectsupwardly from the upper face of block receiver 33 and concentricallyabout the two jets 43 and 44. This shield 45 has a larger internaldiameter than the peripheral or outer diameters of the jets 43 and 44and at its upper open end terminates well above the level of the outlet43a of the fixed jet nozzle 43.

The movable jet 44 is carried by a sensor rod or arm 46 which ispivotally supported to swing about a normally vertical sensor axis athat intersects the longitudinal normally horizontal axis of the fixedjet 4-3, and is also perpendicular to the longitudinal axis b-b of thepiston power valve 35 for purposes of elimination of coercion on thegyro gimbal. The sensor rod or arm 46 projects laterally outwardly ofappropriate slots 47 in the random flow shield 45. These slots 47 aredimensioned to permit pivotal motion of the sensor rod or arm 46 aboutits pivot axis a. The sensor rod or bar 46 has a pendulum weight 48 atone side of the pivot axis a which projects into a fixed, tubular,random flow shield 49 between a pair of oppositely located, spaced apartadjustable sensor travel or limit stops 50 and 51. These stops 5t) and51 are carried by the fixed random flow shield 49. They are threaded soas to be individually adjustable to provide selectable limit stops forclockwise or counterclockwise gravitational swing of sensor rod or arm46 and sensor weight 43 about pivot axis a. In the aforedescribed normaldisposition of the jet orifice 44a centrally over the partition 36dbetween open mouths 34b and 340 of block receiver 33, the weight 48 ofsaid sensor rod 46 lies substantially centrally disposed between the twoadjustable steps 50 and 51 as seen in FIGURE 1.

The jet 44 and its orifice 44a are tiltable about the pivot axis a ineither a clockwise or counterclockwise direction to direct orifice 44afrom its aforementioned normally centralized position between the mouths34b and 340 toward a position overlying either of these mouths dependingupon the direction of gravitational tilt of sensor arm 46 about verticalaxis a so that the jet discharge emitted by nozzle orifice 44a will bedirected into the particular mouth or inlet orifice 3412 or 34c towardwhich it is directed when a tilt in one direction or the other of jetnozzle 44- is effected. The extent and direction of tilt will of coursedetermine the relative disposition of the jet orifice 44a with respectto the mouth or inlet orifice 34b or 340 toward which it has been tiltedand thus serve as a regulatory arrangement for the quantitative amountand velocity of jet fluid that will actually enter the particular mouthor inlet orifice 345 or 340 as the case may be.

In order to effect negative fluid feedback counter to the gravitationaltilt of the sensor arm 46 and jet nozzle 44, a feedback reaction plate52 comprising oppositely directed vanes or blades 52a and 52b is securedto said rod or bar 46 at nozzle 44. These vanes or blades 52a and 52brespectively overlie the outlet ports of auxiliary fixed feedback jets53 and 54. Needle valves 55 and 56 of conventional adjustable typeprovide a control for feedback jet fiuid stream delivery from the outletports of said jets 53 and 54. The said jet ports respectively aredirected toward the underfaces of the respective blades 52a and 52bbeing spaced from the latter so as not to physically impede tiltingswing of jet nozzle 44 about sensor tilt axis a under action of gravitywithin the limits permitted by the respective sensor travel limit stops50 and 51. Feedback jet fluid delivered via the output port of fixedreaction jet nozzle This condition is illustrated in FIGURE 2. On theother hand impingement of feedback jet fluid delivered via the outletport of fixed reaction jet nozzle 54 against vane or blade 5217 willtend to effect counterclockwise tilt of sensor arm 46 counter toclockwise gravitational tilt thereof by impingement against vane orblade 5212 thus tending to swing jet orifice 44a toward central positionwith respect to mouths or inlet orifices 34b and 34c. These feedbackjets 53 and 54 serve purposes presently to be described.

Condits 57 and 58 connect the respective fixed reaction or feedback jets53 and 54 to the respective ports 59 and 60 which are provided in thetubular valve seat 22. These ports 59 and 60 are equispaced and lie onopposite sides of the main outlet port 41 in said tubular valve seat 22.Capillary conduits 61 and 62 are connected respectively at one of theirends to communicate with the respective conduits 57 and 58. The otherends of the respective conduits 61 and 62 are connected to communicatewith opposite ends of a balancing cylinder 63 which contains a slidablebalance weight 64. A position indication rod 65 attached to one end ofthe Weight 64 is movable in the preferably transparent closed sightingsleeve 66 provided at one end of cylinder 63. This sleeve 66 provides aviewing port for the rod 65 to enable visual determination of theposition of the balance weight 64 in the balance cylinder 63. It is usedprimarily during initial calibration of the entire system. Thelongitudinal axis c-c of balance weight 64 and its cylinder 63 liesparallel with or aligned with the axis b-b of the power valve 35.

The system just described is located in parallelism with for example theYY gimbal axis of the gyro G. In other words, the axes b-b and cc areparallel with the YY gimbal axis of the gyro.

A second identical system (not shown) is located at 90 with the systemdescribed so that its power piston axes and balance cylinder axis areparallel with the XX gimbal axis of the gyro. It is necessary to havethese two cross arranged identical systems to effect complete gyroerection on both the XX and YY axes.

Operation of schematic system It is to be noted that the outlet ports25, 26, 59 and 60 of the valve seat 22 in the normal centrally locatedposition of the power valve 35 are almost closed olf from communicationwith the fluid input chamber 38. There is, however, a small overlap ofchamber 38 with respect to all four of the said outlet ports in thisnormal central position of said valve so that some bleed occurs ofhydraulic input power supplied to chamber 38 by operation of pump 14through the hydraulic power input passageway 19 and port 24. The saidnormal centrally located position of main power valve 35 is thatintended to occur when gimbal axis X-X of the gyro is horizontal. Theslight bleeds from chamber 38 of the hydraulic fluid fed thereto viaports and 26 are of like magnitude and at this time provide equal andoppositely directed discharges of bleed erector jet fluid via theoppositely directed erector jet openings 27a and 28a into the body offluid 11 within the casing 10. The opposite equal reactions produced inthe fluid body 11 of these bleed jets cancel each other out. The slightbleeds at this time also from chamber 38 via ports 59 and 60 pass outthrough feedback conduits 57 and 58 to the feedback reaction jets 53 and54 and impinge against the respective feedback reaction plate vanes 52aand 52b. The respective needle valves 55 and 56 are adjusted so that thebleed flow from the respective reaction jets that impinge against thevanes 52a and 52b balances the reaction plate 52 and sensor arm on thevertical pivot axis a so that the weight 48 of sensor arm 46 then liesmidway between the two limit stops and 51. The capillary conduits 61 and62 also deliver bleed fluid from the respective feedback conduits 57 and58 to opposite sides of balance weight 64 in balancing chamber 63.

At this time hydraulic fluid from chamber 38 also passes outwardly ofthe latter via port 41 and to power jet nozzle 43a and from the latterto power jet nozzle outlet 44a against the outer surface of partition34d of the block receiver 33 over which it then lies. The emerging jetstream at 44a striking the surface of this partition 34d is divided andenters both opening 34b and 34c equally, thus producing no effect on thepiston. This balanced arrangement persists as long as no tilt ordisplacement of the gyro assembly occurs about the Y-Y axis.

Assume now that the surface F-F' of the gyro assembly is inclined aboutthe Y-Y axis with rotor wheel G rotating clockwise so that F lies belowand F lies above horizontal. This is the condition shown in FIGURE 2.Gravity causes the sensor arm 46 to tilt counterclockwise (FIGURE 2)about vertical axis a and likewise tilts movable sensor operated jet 44counterclockwise causing its outlet orifice 44a to be directed towardsensor orifice 34c directing the emerging power jet stream from jetorifice 44a into said sensor orifice 34c whence it is forced viapassageway 34a in block receiver 33 and conduit 32 and port 30 into theright chamber 40 of the power valve 35. This increases fluid pressure insaid chamber 40 relative to that in chamber 39 effecting a leftwarddisplacement of power valve 35 as seen in FIGURE 2. This forces fluidfrom chamber 39 to bleed outwardly thereof via port 29, conduit 31 andopening 34!).

The leftward displacement of valve 35 causes head 37 of the power valveto close off ports 26 and completely while head 36 having also beendisplaced leftwardly further uncovers both ports 25 and 59. A largevolume of pumped jet fluid flow from chamber 38 via port 25 and passage27 to erector jet outlet 27a now occurs. Since erector jet flow fromerector jet outlet 28a has at this time been cut off by closing of theport 26, the erector jet stream emerging at outlet 27a into the mainbody of fluid 11 provides a reactor erector correcting torque forcewhich tends to restore the gyro assembly to its initial level conditionshown in FIGURE 1, i.e. with surface F-F' horizontal.

At the same time since port 59 has been more widely opened and port 60has been closed only jet fluid from sensor signal reaction jet 53 canflow while that from sensor signal reaction jet 54 has been cut off.This feedback jet flow tends to swing sensor arm 46 clockwise negativelyof the gravitational tilt tendency towards its other limit stop 50. Thisnegative swing influence tends to direct the jet from orifice 44a intoopening 34b and hence to refill chamber 39 tending thus to restorecylinder 35 to its initial balanced condition shown in FIGURE 1. Thisswing of sensor arm 46 occurs during existence of the erector jet streamissuing at erector jet orifice 27a. When restoration of surface F-F' tolevel condition is complete the balanced condition of FIGURE 1 recurs atwhich time the power jet stream issuing from the now centrally restoredposition of jet orifice 44a relative to openings 34b and 340 will noteffect further movement of power piston 35.

The same type of erector action occurs with emission of an erecting jetstream from erector jet nozzle 28a rather than erector jet nozzle 27a ifthe initial unbalance is one wherein F is higher and F is lower than ahorizontal position. The balance weight 64 under influence of opposingpressures in capillary lines 61 and 62 tends at all times to try toeffect balance in the system and maintenance in its non-tilted conditionof FIG. 1.

The other like system (not shown) provides like erecting action withrespect to tilts about the Y-Y axis.

With either of these two erector systems, the power valve has itsposition controlled by the sensor weight 48 and sensor arm 46. Powervalve 35 thus valves jet fluid to the correct erector jet outlet, e.g.27a or 2715 as the case may be, to produce torque by reaction with themain body of the same fluid in the casing and thereby produce gyroprecession in a direction to correct the vertical error that caused thesensor weight and sensor arm motions. The system shown in FIGURES 1 and2 provides for erecting action on one XX axis of the gyro, and a similarsystem is provided to provide jet torque components operating in thegyro XX axis to provide erection in the YY axis displaced from thedescribed XX axis.

An advantage of the device is that a very accurate erection system canbe obtained with a small set of components and with very low power inputto the erection system. For example, in the practical embodiment to bedescribed, erection is normally achieved with approximately one watt ofinput power in one cubic inch of erector equipment in the erectorsystem.

In addition, an automatic self balancing or integrating erection systemis readily obtained to provide an even greater accuracy with a gyro thatneed not itself be accurately balanced.

Practical embodiment A practical embodiment of the invention as justnoted i is depicted in FIGS. 3 et seq. Referring to these figures, thereference character 11% denotes an enclosing casing which is filled withhigh specific gravity liquid 111 of the same type as liquid 11hereinbefore described. A gyroscope Ga is mounted in this casing as willbe described.

The jet type erector system 112 is carried by the gyro Ga beingsupported, for example, on the upper surface S of the gyro-rotor housingGh. An electric motor 113 is secured to the base a of casing 110 and agear type pump 114, also secured to base 1111a is adapted to be drivenby the motor 113. A filter 115 also secured to base 110a is connected tothe pump intake line 116 so that liquid 111 within casing 111) that isdrawn in at the intake 117 of the filter 115 when the motor 113 isdriven must necessarily pass through the filter 115 prior to its entryinto and passage through the pump 114.

The outlet 118 of the pump 114 overlies an inlet 119 of a distributingpassageway 120 (FIGS. 3, 4 and 5), which is provided in the base 110a.Branch passageways 120a and 1211b each communicating with thedistributing 4 passageway 1211 are provided in said base 110a and thesepassageways in turn have outlets 1211c and 120d (FIGS. 3, 4 and 5) whichcommunicate respectively with vertical passageways 121 and 121a providedin the respective oppositely located vertical gyro support posts 122 and122a which are secured to the base 1111a. The pump 114 thus serves tosupply fluid pumped from the fluid 111 in casing 110 under pressure toboth the vertical passageways 121 and 121a in respective gyro supports122 and 122a and this fluid under pump created pressure is utilized toprovide the jet erection torques as will be presently described.

The spaced-apart vertical gyro support posts 122 and 122a have axiallyaligned openings 123, 123a (FIG. 5) in which ported ball bearingsupports 124, 124a (FIGS. 5 and 12) are mounted. These ball bearingsupports 124 and 124a are generally ring sheaped, being provided with anannular surface groove 125, 125a between a pair of spaced inner andouter annular flanges 126, 126a, 127, 1270!. The inner flanges 126, 126aof each support fit within one of the respective openings 123 and 123a.The annular grooves 125 and 125a respectively communicate with the upperopen ends of passageway 121 or 121a in the respective supports 122,122a. The inner faces of outer flanges 127, 127a abut the outer face ofrespective support posts 122 and 122a to maintain the bearing supports124 and 124a in place.

A plurality of ports 18 or 128a in the annular walls of grooves 125 and125a provide fluid passage communications f-rom the respective openupper ends of passageways 12.1 and 12 1a into the outward spaces 129 and129a externally of the bearing supports 124 and 12411. T'hese outwardspaces 1 29 and 129:: are closed off by the respective cover plates 13thand 1311a which are secured as by bolts 1311c and 130d to respectivesupport posts 122 and 122a and are insulated from these posts and withrespect to flanges 127 or 127C by pairs of packing and insulation rings13 1 and 13111. Electrical contact springs 132 and 13 2a are carriedinsulatively between the ring pairs 13 1 and 131a located between theseend plates 130 and 130a for purposes presently to be described.

Ball bearings 133 and 133a are mounted respectively, within the tubularsupports 124 and 124a and there serve as mounts for the diametricallydisposed tubul ar trunnions 134 or 13 412 of the outer gimbal 135 ofgyro Ga (FIGS. 5 and 11). The trunnions 134 and 134a are provided withthe respective cham bers 136 and 136a which communicate respectivelywith the center bores 137 and 137a of the respective trunnions 134 and134a. These cham bers 136 and 136a respectively communicate via openings136i) and 1360 (FIG. 11) with open ends of respective passageways 13Sand 138a in the gimbal frame 135. The other ends of passageways 138 and138a open respectively into the diametrically opposite bearing openings139 and 139a in the said outer gimbal frame 135 (see FIGS. 4 and 11).

Tubular ball bearing supports 140 and 1411a (FIG. 4) of substantiallyidentical construction with the bearing supports 124 and 124a arepositioned in the bearing openings 139 and 139a of outer gimbal 135. Theouter ends of the central openings in the supports 140 and 140a areclosed off by cover plates 141 and 141a (FIG. 4) which are insulative'lyseparated from the outer flanges 142 and 142a of said supports 140 and140a by pairs of packing and insulating rings 143 and 143a, defining therespective chambers 144 and 1 44a which communicate respectively withthe annular grooves 145 and 145a of the bearing supports 140 and 140avia ports 146 and 146a. The said annular grooves 145 and 145arespectively communicate with the second open ends of passageways 13 8and 138a of the gimbal 135 (FIG. 11). Contact springs 1 47 and 147a(FIG. 4) are insulatively carried between the pairs of insutlator rings143 and 143a and project into the respective spaces 144 and 144a forpurposes presently to be described.

Ball bearings 148 and 148a are mounted within the tubular bearingsupports 140 and 140a and these serve as mounts for the diametricallydisposed hollow or tubular trunnions 149 and 149a of the inner gimbal orrotor frame Gh. This frame Gh is provided with the respective chambers1511, 150a which communicate respectively with the bores 151, 151a ofthe respective hollow trunnions 149 and 14%. These chambers 150 and 150ain turn communicate with respective passageways 152, 152a provided inthe cover 153 of the rotor frame Gh and the open delivery terminals ofthese passageways are disposed in the upper surface of cover 153.

The inner gimbal or rotor frame Gh encloses an electrically driven gyrorotor wheel 155 supported by ball bearings 156, 157 to spin about itsnormally vertical shaft 158 which extends transversely between the cover153 and bottom 159 of the rotor covering frame Gh. The rotor wheel 155is provided with a conventional rotor 160 which cooperates inductivelywith stator windings 161 supported concentrically about the shaft 158within a space 16 2 provided in the rotor wheel 155 so that appropriateelectric energization of the stator windings 161 and rotor 160 willcause the rotor wheel 155 to spin preferably clockwise about shaft 158.

With the arrangement thus far described, the outer ginnbal ring issupported by its trunnions 134 and 134a to be freely rotatable about theY--Y roll axis of the device on which the gyro is mounted while theinner gimbal or rotor housing or rotor frame Gh supported by itstrunnions 151, 15101 to be freely rotatable about the pitch or XX ofsaid device, which is displaced from the roll axis,

The liquid 11 1 within casing which pumped by pump 114 to thedistributing passageways 120, a and 12012 is, via the variouspassageways and ports hereinabove described able to reach the outlets152 and 15 2a in the cover 153 of the rotor housing or frame Gh in anyand all pitch or roll positions of the outer gimbal frame and of theinner gimbal or rotor housing frame Gh.

Erector system The jet erector system 1112 is carried on the top surfaceS of the cover 153 of the inner 'gimbal or rotor frame Gh beingpreferably centered relative to the shaft 158.

This jet erector system 112 includes an erector body base plate 163(FIGS. 4, 5, 18 and 19) secured as by bolts 1 64 passing through holes165 to the upper face of rotor frame cover plate 153. This base plate163 is undercut at 166 (FIG. 18) to define an annular rim 167 whichrests firmly on the surface of cover plate 153. The undercut 166 isprimarily to better leak-proof contact between the 167 and surface ofthe cover plate 153 allowing for non-flatness of said cover plate. Acentral hole 168 is provided in the base plate 163. Opposite lyextending channels 169 and .170 and a third channel 171 perpendicular tothe channels 169 and 170 are provided in the base plate 163. Thechannels 169, 170 and 171 extend radially outwardly from the center hole168 terminating short of the outer periphery of base plate 163'. Theirinner ends communicate with hole 168. Passage holes 172 and 173 in thebase plate 163 are located near the outer ends of channels 170 and 171and open into the upper outer surface of base plate 163 (FIGS. 4, 5 and18).

Erector body block An erector body block 174 of generally cubicalconfiguration is secured to the erector base plate 163 as by the bolts175 (FIGS. 3, 4, 5, 6-10 and 13-16 inclusive) so that its opposite pairsof side faces A, B and C, D, are. respectively perpendicular to the Y-Yand XX axes. The bottom :face of the erector body block 174 is providedwith a centrally located cylindrical recess 176. This recess 176 ispositioned to overlie the hole or opening 168 in the erector base plate163 (FIG. 8) being approximately of the same diameter as the latter.

A transverse, horizon-tally disposed power piston bore or hole 177extending through the block 174 from the face A to the face B thereof isprovided, this bore being parallel with the XX gimbal axis. A centrallylocated vertical hole 17 8 in block 174 provides communication betweenrecess 176 and said bore 177. (See FIG- URES 16 and 17.) Smalldiamete-red 'balancer passageways 179 and 179 extending respectivelyfrom near opposite ends of bore 177 outwardly to the face D of bodyblock 174 are provided. Other small diametered reaction jet passageways180 and 180 extending respectively :from near opposite ends of bore 17 7outwardly to face C of body block 174 are provided.

A second transverse horizontally disposed power piston bore or hole 181extending through the block 174 through from the face C to the face Dthereof and perpendicular to bore 177 is provided, this bore beingparallel with the Y-Y gimbal axis. A centrally located vertical hole 182joints bores 177 and 181.

Balancer openings or passageways 183 and 183 near opposite ends of thebore 181 extend laterally from said 10 bore 181 to the face B of saidblock (FIGS. 13 and 15). Other small diametered reaction jet passageways184 and 184;, extending respectively from near opposite ends of bore 181outwardly to face A of body block 174 are provided (FIGS. 13, 1S and16).

A pair of spaced-apart erection jet flow vertical holes or passages 185and 186 (FIGS. 3, 4, 5, 8, 9 and 13-17 inclusive) extend upwardly fromthe bore 177 to the upper surface of a substantially cylindricalextension 187 of block 174 at its top. A similar pair of spaced-aparterection jet flow vertical holes or passageways 188 and 189 extendupwardly from bore 181 to the upper surface of said cylindricalextension 187. The four upper open ends of these holes or passageways185, 186 and 188, 189 as seen clearly in FIG. 13 lie 90 apart and areconcentrically disposed relative to the central vertical axis Z-Z ofblock 174, which axis is aligned with the axis of the rotor shaft 158.The cylindrical extension 187 has a threaded hole 190 aligned with itsaxis ZZ.

A cylindrical block 191 (FIGS. 3, 4, 5', 8 and 9), the same diameter asblock extension 187 is positioned to overlie the latter. This block 191has four vertically extending passages or holes 192, 193, 194 and of thesame diameter as and registering respectively with the holes orpassageways 185, 186, 188 and 189 serving as continuations of thelatter. The upper ends of holes or passageways 192, 193, 194 and 195terminate in the upper surface of block 191. They are providedrespectively with substantially rectangular independent, laterallydirected erector jet orifice channels or passageways 192a, 193a, 194a,and 19561 which open respectively at 90 spaced apart points in thecylindrical surface of block 191. Jet orifices 192a and 193a arediametrically opposed and in line with the XX axis of the gyro Ga whilejet orifices 194a and 195a are diametrically opposed and in line withthe YY axis of the gyro Ga. A cover disk or plate 196 overlies the topsurface of block 191 and its bottom face provides the covering walls forthe independent erector jet orifiws 192a, 193a, 194a and 195a. The coverplate 196 and the block 191 are secured to the cylindrical extension 187as by a threaded center bolt 197 (FIGURE 3) which engages the threadedhole 190 (FIG. 16) in said extension 187.

The power cylinder bore 177 in erector body block 174 has a pair ofspaced-apart, fluid power input and bleed passageways 198 and 198 (FIGS.14 and 15) located near the opposite ends of said bore 177 and extendinglaterally therefrom to the outer face C of the block 174. The bore 181also has a pair of spaced-apart fluid power input and bleed passageways199 and 199 (FIGS. 1317 inclusive) located near opposite ends of saidbore 181 and extending laterally therefrom to the outer face B of theblock. The passageways 198 and 198 terminate in face C in substantiallyL-shaped recesses 200 and 200 provided in said face C (FIG. 15).

The passageways 199 and 199 terminate in face B in substantiallyL-shaped recesses 201 and 201 provided in said face B (FIG. 14).

Power valve seats and power valves A tubular valve seat insert or sleeve202 (FIGS. 20 and 21) is provided for the bore 177. This valve seat 20-2has a centrally disposed annular groove 203 in its outer surface whichcommunicates with its center hole or bore 204 via a plurality of wallholes 205. When the valve seat insert 202 is fitted into bore 177, theannular groove 203 lies in direct communication with the passageways orholes 178 and 182 of erector body block 174 (see FIG. 9). The valve seat202 also has a pair of annular grooves 206;, and 206 in its outersurface which are equi-spaced from and lie at opposite sides of theannular groove 203. These grooves 206 and 206 communicate respectivelywith the center hole 204 via a plurality of wall holes 207 and 207 Whenvalve seat 202 is fitted into bore 177, the annular grooves 286;, and206 respectively die in direct communication with the respective erectorjet passageways 185 and 186 (see FIG. 9) and also with respectivereaction jet passageways 189 and 180 Addi tional outer annular recesses2418 and 268 are provided at opposite ends of valve seat 202. Radialslots and 209 spaced apart are provided at the opposite ends of sleeve202.

End stop rings 21th, and 21% are fitted into the opposite ends of sleevevalve seat 202. Diametrically disposed radial slots 211 and 211 areprovided in these end rings, the said rings being positioned so thattheir radial slots 211 and 211 lie aligned with a pair of the radialslots 20%, and 209 so as to provide direct communication between therecesses 208,, and 208 with opposite ends of the valve seat hole 204.The composite length of sleeve valve seat 292 and its end rings 21th,and 210 is equal substantially to the length of bore 177 between faces Aand B.

A power valve 212 (FIG. 23) is fitted slidably within the tubular valveseat insert 2%2. This valve is a tubular cylindrical body havingoppositely located head portions 213 and 213 These head portions haveapproximately the same external diameter as the inner diameter of thevalve seat bore 294 but fit slidably within the latter. A stern part 214lying between the head portions 213,; and 213 is of smaller diameterthan the diameter of bore 204 of valve seat 202 and with the surface ofsaid bore defines an annular chamber 215. This chamber 215 is at alltimes in communication with the input ports 2115 in valve seat 202 andalso input passageways 173 and 1132 (FIGS. 3, 16 and 17), so thatchamber 215 is always filled with liquid under pressure which isdelivered to said passageway 178 by the pump 114 (FIG. 3) via passageways 1211, 112th and 121, 121 chamber 125, 125 (FIG. 5), ports 128, 128chambers 137, 137 passageways 138, 138,, in gimbal ring (FIG. 11)channels 145, ports 146, 146 chambers 1144, 144 bores 151, 151 andpassages 152, 152 whose oulets open into the recesses 169 and 170 whichcommunicate with hole 168 and then with recess 176 in the erector bodybolck 174. The power valve 212 is shorter in length than the tubularvalve seat insert 202 so that it may slide reciprocally to and frobetween opposite ends of the valve seat bore 204 A transverse partition216 divides the tubular bore of power valve 212 into two separatechambers 217 and 217 opening respectively toward opposite ends of thevalve seat bore 204.

The head portions 213 and 213 of the power valve 212 normally when thelatter is in a centrallized position in bore 264 nearly close off therespective port holes 237 and 267 leaving, however, minimal bleedopenings 218 and 218 (FIG. 23) into port holes 267 and 207 for purposespresently to be described.

A power valve seat insert or sleeve 202,, which is identical with powervalve sleeve 202 is provided for the second valve bore 181 (FIG. 4) inthe erector body block 174 (FIG. 4). This valve sleeve 202 receives anaxially slidable power piston 212. identical in construction with powerpiston 212. The components of the sleeve 2112 and of piston 212,, whichcorrespond to those of sleeve 202 and piston 212 bear the same referencecharacters with the added subscript a.

The opposite ends of valve bores 177 and 181 of the erector body block174 which terminate in the faces A, B, C and D thereof are closed off.The closing off arrangements are best seen in FIGS. 3 to 9 inclusive,13, 28 and 29. Thus, the end of bore 181 which terminates in face D(FIGS. 5, 8 and 13) of erector body block 174 is closed off by a coverplate 219 secured to the said erector body block 174 as by bolts 220.The end of bore 177 which terminates in face B of said erector bodyblock 174 is closed off by a similar cover plate 221 (FIGS. 6 and 13)secured to said block 174 as by bolts 222.

The opposite end of bore 177 in erector body block 174 which terminatesin its face A is closed off by a plate separator 223 (FIG. 28) while theopposite end of bore 181 which terminates in face C of said erector bodyblock 174 is closed off by a plate separator 224 (FIG. 29). The twoplate separators 223 and 224 respectively have areas and shapescorresponding to the areas and shapes of the respective faces A and C ofsaid body block 174.

Plate separator 223 has a pair of spaced-apart holes 225,; and 225positioned to lie aligned with the respective outlets of feedbackbalancer passages and 18% (FIGS. 5 and 28). It also has a pair ofspacedapart holes 226 and 226 that lie aligned with portions of therespective L-shaped fluid power supply passageways 200 and 200 (FIGS. 5,15 and 28). Bolt holes 227 are also provided in the plate separator 223.

Plate separator 224 (FIG. 29) has a pair of spacedapart holes 228 and228 positioned to lie aligned with the respective outlets of feed backbalancer passages 183 and 183 (FIGS. 4 and 29). It also has a pair ofspaced-apart holes 230 and 230 that are aligned with portions of therespective L-shaped fluid power supply passageways 201 and 201 (FIGS. 4,14 and 29). Bolt holes 231 also are provided in the plate receiver 224.

Block receivers (FIGS. 4, 5, 30, 31 and 32) Block receivers 232 and232,, of identical construction are mounted respectively on the outerfaces of the respective plate separators 223 and 224. As they areidentical only block receiver 232 is described, it being understood thatcorresponding components of block receiver 232 are similarly designatedwith added subscripts a. The block receiver 232 is a substantiallyrectilinear body (FIGS. 4, 5, 30, 31 and 32). The face F thereof thatrests on the plate separator 223 is provided with a pair oflongitiudinally extending channels or recesses 233 and 233 separated bya partition 234. These channels respectively are aligned with the holes226 and 226 in the plate receiver 223 so that they communicate with therespective L-shaped slots 20%, and 200 in the face C of erector bodyblock 174. Transverse holes or passageways 235;, and 235 extend from therespective channels 233 and 233 in block receiver 232 through the latterto its outer face P terminating there in open inlet holes 236 and 236These open inlet holes 236 and 236 lie in a common horizontal planewhich is parallel with the X-X axis of the gyro Ga being spaced apart asmall distance for example .032 inch between centers and each beingapproximately .0260" in diameter. The portion of the partition 234between these holes 236 and 236 is approximately .006" thick. It isunderstood, of course, that these dimensions are by way of example only.No intention of limitation to these exact figures is intended. Boltmounting holes 237 are provided in block receiver 232 which are intendedto lie aligned with a corresponding pair of the bolt holes 227 in plateseparator 223 so that the latter and the block receiver 232 may bemounted on the face C of erector body block 174 by common bolts 238(FIG. 5).

The second block receiver 232 is mounted on the face of plate separator224 and with the latter to the face B of the erector body block 174 bycommon bolts 238. (FIG. 4). The channels 233;, and 233 of this blockreceiver lie aligned respectively with the holes 230 and 23%, (FIGS. 4and 26). Its two inlet holes 236 and 236 lie in a common horizontalplane which is parallel with the Y-Y axis of the gyro Ga.

F eed-back arrangements A feedback block 239 (FIGS. 5 and 6) is alsomounted on the outer face of plate separator 223 and with it to erectorbody block 174 as by bolts 240. This feedback block 239 lies above theblock receiver 232. It includes a pair of separate horizontally disposedseparate channels 241 and 241 which lie aligned respectively with thefeedback holes 225;, and 225 in plate separator 223 thus being incommunication with the respective feedback passages 18%, and 180 inerector body block 174. Transverse passages or feedback holes 242 and242R terminating in feedback jet outlets 243 and 243 in the outer faceof feedback block 239 are provided in the latter. Needle valves 244 and244 provide independent adjustable flow controls for feedback fluid fiowoutwardly of feedback jet outlets 243 and 243 The two feedback jetorifices or outlets 243 and 243 lie spaced apart in a horizontal planeparallel with the surface S of the gyro rotor housing Gh. These twofeedback jet orifices or outlets 243;, and 243 are symmetricallydisposed relative to the vertical center plane of the feedback block239.

A similar feedback block 245 is also mounted on the outer face of plateseparator 224 and with it to erector body block 174 as by bolts 246(FIGS. 4 and 6). This feedback block lies above the block receiver232,,. It includes a pair of separate angularly disposed separatechannels 247;, and 247 (FIGS. 4 and 6) which lie aligned with therespective feedback holes 228 and 228 of the plate separator 224 (FIG.26) thus being in communication with the respective feedback passages183 and 183 in erector body block 174. Transverse passages or feedbackholes 248;, and 248 terminating in jet outlets 249 and 249 in the outerface of feedback block 239 are provided in the latter. Needle valves 250and 250 provide independent adaptable flow controls for feedback fluidflow outwardly of jet outlets 249;, and 249 The two feedback jet outletsor orifices 249 and 249 lie spaced apart in a horizontal plane parallelwith surface S of the gyro rotor housing G These jet outlets or orifices249 and 249 are symmetrically disposed relative to the vertical centerplane of the feedback block 245.

Sensor systems A pair of sensor pivot supports 251 and 251;; areprovided (FIGS. 3, 4 and These supports are identical in constructionand are mounted on the upper face of the rotor casing cover plate 163.Sensor pivot support 251;; (FIGS. 3, 5, 7, 10 and is secured to plate163 as by bolts 252 It has a vertical passageway 253;; that overlies thepower fluid input outlet 172 in cover plate 163. A horizontal passageway254;; communicates at its inner end with the vertical passageway 253;;and extends to the vertical surface 255;; of said support 251;; lyingthere at the same level as the level of the orifices 236;, and 236 ofthe block receiver 232 with its axis centered between said two orifices.A fixed jet 256 (FIGS. 5, 7, 10 and 25) is positioned rigidly in theoutlet end of horizontal passageway 254 and projects outwardly of thesurface 255;; of said support 251;; toward the block receiver 232 withits axis centered relative to the partition 234 between the orifices236;, and 236 A pair of horizontally disposed, vertically spaced-apartpivot supporting flanges 257 and 258;; (FIGS. 5 and 10) extend outwardlyfrom face 255;; of said sensor pivot support. Flange 257 abuts the topsurface of cover plate 163 while flange 258 lies aligned therewith insuperposed relationship. A jewel bearing comprising a cap jewel 259 andring jewel 260 carried bya tubular setting 261;; is fitted Within avertical jewel bearing receiving hole 262;; provided in flange 257 Avertical tapped hole 263;; is provided in the flange 258;; which liesvertically aligned with the lower hole 263;;. A threaded jewel bearinghousing 264;; is threadably mounted in the tapper vertical hole 263;;being provided with a setting nut 265 This housing 264;; has a verticalrecess 266 A jewel setting 267 including a cap jewel 268;; and ringjewel 269;; is fitted into the recess 266;; of said adjustable housing264 A vertical sensor pivot shaft 270;; is supported between thevertically aligned fixed jewel bearing setting 261 and adjustable jewelbearing setting 267;; as by the oppo- 14 sitely extending hardened steelpintles or pivots 271;; and 272;; which are fixedly mounted in oppositeends of the pivot shaft 27 0 A horizontally tubular sensor jet 273;; isfixed in an appropriate horizontal opening 274;; in the pivot shaft27%;. The axis of this jet 273 lies aligned with the axis of fixed jet256;; and the outlet orifice of the latter projects into the receivingend of sensor jet 273 The jet outlet 275 lies horizontally aligned withthe receiving orifices 236 and 236 in the block receiver 232 (FIG. 25)and is intended to be swingable reciprocally on a horizontal arc k (FIG.7) from a central position relative to the partition 234 in clockwiseand counterclockwise direction respectively toward and away from the twojet orifices 236 and 236 for purposes of directing jet fluid into theselected one of these two orifices as required by operating conditionspresently to be described. The inner diameter of the bore of pivotedsensor jet 273;; at its receiving end is substantially larger than theouter diameter of fixed jet 256;; which projects into it so as to permitpivotal swing of jet 273;; relative to the jet orifices 236 and 236 ofthe block receiver 232 on the arc k A random flow shield 276 (FIGS. 3,6, 7 and 24) is secured to the sensor pivot support 251;; as by bolts277 This random flow shield extends from support 251;; into contact withthe block receiver 232 and surrounds the fixed jet 256 and movable jet274 as well as orifices 236 and 236 in block receiver 232 to protect allfrom random flow currents of liquid 111 in casing 110.

A sensor arm or rod 278;; (FIGS. 6, 7 and 26) is clamped as at 279 tothe pivot shaft 270;; above the random flow shield 276 This rod 278;;extends horizontally from the pivot shaft 270;; at a angle with respectto the common axis of the jets 273 and 256 A pendulum weight 280;; (FIG.24) is secured to the under face of the free end of arm or rod 278;; asby 'bolts 281 This weight 280;; is substantially rectilinear in shapeand its parallel side faces lie in spaced relationship between thevertical uprights 282 283;; of a dash pot member 284;; which latter issecured as by bolts 285;; to the cover plate 163 of the rotor housingGh. Adjustable limit stop screws 286 and 287;; provide travel limits tothe clockwise or counterclockwise swing of the pendulum weight 280;; andits sensor support arm 278;; on the vertical axis of the sensor supportshaft 270;;. A random flow shield 288 is secured to the verticaluprights 282 and 283;; and projects therefrom toward the random flowshield 276;; (FIG. 7) serving to protect. the pendulum weight 280;; fromthe effects of random flow currents of fluid 111 in the casing 110. Thepivotal gravity swing of this pendulum weight 280;; on the vertical axisof vertical pivot rod 270;; is thus influenced by the dash pot effect ofescapement of fluid outwardly through the open ends of the shield 288 Innormal position when the plane of rotor cover 163 is horizontal,relative to the YY axis, the pendulum weight 280;; lies centered betweenthe two stop screws 286;; and 287;; as shown in FIG. 24 and may swingtoward or away from either.

A jet reaction vane or plate 291 (FIG. 6) is secured suitably to theinner side face of sensor arm 278 This reaction vane or plate issubstantially rectangular in shape and is admeasured lengthwise to besomewhat longer than the spacing between the reaction jet orifices 243and 243 of the feedback block 239 lying parallel with the outer face ofthe latter and disposed symmetrically relative to the vertical axis ofsensor support shaft 270;; so that reaction jets delivered by said jetorifices 243 and 243 and impinging on said vane or plate 291;; will haveopposing swing effects on sensor arm 278;; about the axis of said sensorsupport shaft 270 The sensor pivot support 251 (FIG. 4) which isidentical with sensor pivot support 251;; has associated with it a groupof components of like kind as those associated with support 251;; and asjust described, all being identified by like reference charactersbearing subscripts y.

15 The reaction vane or plate 291,; of this group of components islocated to be influenced by the reaction jets emerging from the reactionjet orifices 249 and 249 (FIG. 6) of feedback block 245 to influenceswing of the sensor arm or rod 278 between limits set by the adjustablescrew stops 286 and 287 Balancer systems Balancer cylinder blocks 292;;and 292 (FIGS. 4, 5, and 6) preferably of aluminum alloy are secured tothe rotor housing cover 163 in any appropriate manner s that the axes oftheir cylinder bores 293 293,; are in crossed relationship beingrespectively parallel with the XX and YY axes of the gyro system. Endwall plugs 294 294 preferably of aluminum alloy for each of the cylinder'blocks 292 292 close off one end of each cylinder bore 293 293 Headers295 295 close off the opposite ends of the respective bores 293;;, 293said headers being appropriately secured in place as by bolts (notshown) on the respective ends of said cylinder blocks 292 292 A tubulartransparent viewing cap 296 296 for example, of Plexiglas or equivalenttransparent material is secured in an appropriate hole of each header235 295 these caps being centrally located in said headers. Theirlongitudinal bores 297 297 lie coincident with the axes of the cylinderbores 293 293;; and are closed off at their outer ends by end Walls ofsaid caps. The inner ends of said bores 297 297 open into the cylinderbores 293 293x These caps are secured as by bolts 298 298 to therespective headers 295 295 Fluid passageways 299 299 and 299 299 areprovided in the walls of cylinder blocks 292 292 at opposite ends of therespective cylinder bores 293 293 Sliclable cylindrical balancer weights300 300 preferably of stainless steel are positioned within the respective cylinder bores 293 293 These weights are provided with spacedannular grooves 301 301 in their cylindrical surfaces to facilitate freelongitudinal sliding motion of the weights 3% 300 which are shorter inlength than the lengths of the bores 293 293,, within the latter, whileproviding an oil film seal between the bore chamber portions on oppositesides of the respective weights 3011 30th. Axially disposed sight rods362 302;; project from ends of the weights 300 30% into the respectivetransparent viewing caps 296 29%, wherein their positions may beobserved to determine the positions of the respective balance weights300 300 in their cylinder bores 293 293 for calibration purposes.

Manifolds 304 3tl4 preferably of brass are secured as by bolts (notshown) to the respective cylinder blocks 292 292 so as to overlie therespective fluid passageways 299 299 and 299 299 of these blocks. Thesemanifolds have respective fluid passageways StlS 305 305 34lS w-hoseoutlets overlie and communicate with the respective fluid passageways299 299 299 and 299 Capillary tubes 306 3O6 306 and 306 preferably ofsoft copper having, for example, .008" ID. have one of their endsrespectively connected to the inlets of respective fluid passages 305305 3115 305 of the two manifolds 30 1 3041 7.

The other ends of capillary tubes 306 and 306 (FIG. 6) are connected tothe outlets of respective passageways 307 307 in a manifold 398preferably of brass, which latter is secured to the face D of erectorbody block 174 as by bolts (not shown) so that the inlets of saidpassageways 307 307 respectively overlie and communicate with theoutlets of respective balancer passageway-s 179;, and 179 in saiderector body block 174. Similarly, the other ends of capillary tubes 306and 306 are connected to the outlets of respective passageways 307 307in a manifold 308 preferably of brass, which latter is secured to theface B of erector body block 174 as by bolts (not shown) so that theinlets 16 of said passageways 307 and 3tl7 respectively overlie andcommunicate with the respective balancer passageways 183 and 183 in saiderector body block 174.

In this way, balanc-er fluid may flow to and from the appropriate powerpiston chambers 177 and 181 in the erector body block 174 via capillarytubes 306 306 305 306 to the appropriate sides of balancer cylinderbores 293 293 to cause longitudinal shifts of respective balance weights300 30th; as may be required in operation as will be presentlydescribed.

All the components of the erector system, unless otherwise specifiedherein are preferably of lightweight noncorrosive material, such asaluminum alloy to reduce the weight of the assembly to a minimum and toprovide long wear characteristics as well as ruggedness to thestructure.

Electrical system The electrical system for spinning the gyro rotor 155and for driving the operating motor 113 of the gear pump 114 is showndiagrammatically in FIGURE 27.

A terminal block 314 having separately insulated terminals 315, 316,317, 318, 319 and 320 is provided. A common AC. power source E at 400c.p.s. and 115 v. is connected via switch 310 and lead wire 322 toterminal 315, via lead wire 321 to common terminal 316 and via switch311 and lead wire 323 to terminal 317.

A single pole, multiple throw switch 324 has its movable blade 325connected to terminal 320 by a lead wire 326 while its two contacts 327and 328 are respectively connected by lead wires 329 and 330 to theterminals 318 and 319.

The terminals 315 and 316 are connected by lead wires 331 and 332 to theprimary coil 333 of the gyro power supplying step down transformer T Thesecondary coil 334 of this transformer providing 45 v. at 400 c.p.s. isconnected by lead wire 335 to one end q of the stator field coil orwinding 161 and by lead wire 336 to the center tap r of stator fieldcoil 161. A condenser 337 is connected by leads 338 and 339 across theends I and q of the stator winding 161. With these connections, therotor wheel 155 is driven in clockwise direction. In the practicalembodiment of the invention, the condenser 337 is secured to the bottomportion of the rotor housing 159 (FIG. 4). The connections of the leadWires 335 and 336 to the required parts mounted on the movable gimbalrotor frame Gh is effected through the agency of contact springs 132,132,,, 147, 147,, associated contact pins and slip rings all in wellknown manner so that required electrical connections may be effectedwithout interfering in any way with rotor rotation or free movement ofthe outer gimbal or the inner gimbal or rotor frame Gh, or of the rotorwheel 155. Any suitable arrangement for effecting this may be utilized.

The electric power for driving the erection pump motor is also derivedfrom the common source E. To this end, the common terminal 316 isconnected by lead wire 340 to one end of the primary coil 341 of astep-down transformer T The other end of this primary is connected bylead wire 342 to the terminal 317. Thus, the primary coil 341 isenergized at 115 v. at 400 c.p.s. from source E. The secondary coil 343is in this embodiment designed to produce 32 v. at 400 c.p.s. betweenits two outermost ends and 17.5 v. at 400 c.p.s. at an intermediate tappoint 344. One of the outer terminals of coil 343 is connected by leadwire 345 to terminal 318. The 17.5 v. tap point 344 is connected by leadwire 34-6 to the terminal 319. The other outer end of secondary coil 343is connected by lead wire 347 to the center junction V of the statorcoil 348 or the erection pump motor 113. The ends W and Z of thesestator coils are connected by leads 350, 351 to opposite plates of acondenser 352, and lead 350 as well as the end Z of stator coil 348 areconnected by lead wire 356 to the terminal 320. The switch blade 325thus may be operated to supply the stator field coils 343, either with32 v. at 400 c.p.s. when switch .17 blade 325 is in contact with switchcontact 327, or with 17.5 v. at 400 c.p.s. when blade 325 is moved intocontact with contact 328, thus providing two drive speeds for theerection motor 113, fast speed at 32 v. and slower speed at 17.5 v.

Operation of practical embodiment Assuming that the gyro Ga is initiallyin true vertical condition both with respect to the XX and Y--Y gimbalaxes and that the sensor weights 289 and 28th; respectively liecentrallized between their respective pairs of limit stops 286 287;; and286 287 in this condition the movable jets 273;; and 273 lie centeredbetween the respective pairs of power inlet orifices 236 236 and 236 and236 of the respective block receivers 232 and 232a. At this time, too,the power pistons 212 and 212a lie centralized in their respective valvesleeves 2ti2 and 202a. Also, at this time, the balancer weights 30%;;and 30% lie substantially in centrallized positions within theirrespective balancer chambers 292;; and 292 In other words, all of themovable components are in centrallized positions. The gyro rotor wheel155 is now energized from the power source E and rotates preferably inclockwise direction. The pump motor 113 is now turned on by movingswitch blade 325 into circuitclosing condition with switch contact 327providing high speed operation of the pump motor 113. The fluid pumpedfrom the casing 110 into its delivery conduit 113 passes from the lattervia the passageway 125) and its branch passages 120a upwardly throughthe gyro supports 122, 122a and through the various interconnectedpassageways hereinabove described reaches the respective chambers 215and 215a of the two power valve systems. Because of the bleedarrangements between the pistons and the respective ports ZQld 205 and26601 and 206a the bleed fluid under pressure appears at all theerection jet orifices 192a, 193a, 194a and 195a. At this time, also,bleed reaction fluid appears at the feedback reaction jet orifices 243243 and 24%,, 249 The bleed jet fluid streams delivered by theserespective outlets strike the respective jet reaction vanes 291;; and291 The needle valves 244 244 and 250 250 are now adjusted carefully toinsure the centrallized positions of the sensor weights 280 and 280;;between their respective limit stops. The balance weights 300 and seeare initially positioned in assembly proximate to centrallized positionsin their balance cylinders 23%;; and 292 Thus, the pressures on oppositesides of these weights in the cylinders provided by the capillary tubespositions them automatically to gyro balance conditions. In thiscondition, the shaft 158 of the gyro rotor is Vertical.

Assume now that a tilt of the plane F-F (FIG. 5) if the surface of thegyro rotor casing cover 153 occurs about the X-X axis so that F liesbetween horizontal and F above horizontal. This tilt causes the sensorweight 281;; to swing counterclockwise from. its centrallized positionshown in FIG. 7 toward its limit stop 286 This immediately causes itsmovable jet orifice 275;; to swing toward alignment with the power inlet236;, inthe block receiver 232. Thus, fluid under pressure passes viapassages ZOQ and 199 in the erector body block and port 209 to thelefthand side of the power piston 212 causing it to shift toward theright. This rightward shift of the power valve piston 202 causescomplete closure of the ports 207 and opening of the ports 207 Inconsequence, fluid from the chamber 215 can flow freely via the ports207 to the jet outlet 192a. At the same time, reaction jet fluid canflow in passage 180 to the reaction jet orifice 243 The erector jetflowing from the erection jet orifice 192a acts to provide an erectiontorque with the main body of fluid 111 in the container tending torestore the tilted gyro axle 158 to vertical. At the same time, thereaction jet flowing from jet orifice 243 against the vane 291 tends toact counter to the gravitational tilt of the sensor weight 281;; tendingto restore the power jet 275 to a centrallize'd position at which timeall the parts move again toward their centrallized initial conditionswhen erection is complete.

If the tilt should occur so that F is above horizontal and F is belowhorizontal, the shift of the power piston 202 will be in the oppositedirection and the erector jet orifice becoming operative will be erectorjet 193a rather than erector jet 192a. The same type of erector actionoccurs with respect to the Y--Y axis with the power piston 202a beingthe one then in operation and the jet orifices 194a and a being thosethen providing the erector reaction torques with the fluid 111 in theeasing 110.

The capillary tubes 306 306 306 306 which are connected through themanifolds 304;; and 304;; to opposite sides of the balancer Weightcylinders 292 and 292 are sensitive to pressures at various sides of therespective power pistons 202 and 202a and tend to make the balancerweights 300;; and 300? self positioning to maintain the entire system inbalance should any conditions occur tending to create unbalance.

It is seen, therefore, that the practical embodiment of this inventionprovides accurate and careful erection both on the X-X and YY axes ofthe gyro under all conditions and utilization is made of reactiontorques created by the jet streams of fluid discharged from the erectorjet orifices 192a, 193a, 194a and 195a into the main body of the samejet fluid 111 within the casing 110.

Although specific embodiments of the invention have been described andshown, variations in detail within the scope of the appended claims arepossible and are contemplated. There is no intention, therefore, oflimitation to the exact disclosure hereinabove presented.

I claim:

1. In combination with a gyroscope, an erector system therefor, saidsystem including jet stream outlets arranged about mutuallyperpendicular axes, means for directing jet fluid to said outlets, valvemeans for controlling the discharge of jet fluid from selected of saidoutlets, pendulum means for operating said valve means, negativefeedback means for opposing movement of said pendulum means, containermeans enclosing the gyroscope and erector system, jet fluid in saidcontainer and pumping means within said container for pumping the jetfluid therein to said directing means. i

2. In an erector system for gyroscopes, container means enclosing thegyroscope and erector system, jet fluid in said container, jet streamoutlets arranged about mutually perpendicular axes, means for directingjet fluid to said outlets, valve means for controlling the discharge ofjet fluid from selected of said outlets, gravitationally controlledmeans for controlling said valve means, negative feedback means foropposing movement of said gravitationally controlled means, and pumpingmeans within said container for pumping the jet fluid therein to saiddirecting means.

3. In an erector system for gyroscopes, container means enclosing thegyroscope and erector system, jet fluid in said container, jet streamoutlets arranged about mutually perpendicular axes, conduit means fordirecting jet fluid to said outlets, valve means for controlling thedischarge of jet fluid from selected of said outlets, gravitationallycontrolled means for controlling said valve means, negative feedbackmeans for opposing movement of said gravitationally controlled means,balancing weight means on said gyroscope, means for altering relativepositions of said balancing weight means by integrating portions of acontinued unbalanced flow of jet fluid delivered to said conduit means,and pumping means within said container for pumping the jet fluidtherein to said conduit means.

4. In an erector system for gyroscopes, container means enclosing thegyroscope and erector system, jet fluid in said container, a universallymounted rotor casing for said gyroscope mounted in said container, acylinder and a piston member on said casing, a pair of jet streamoutlets, a pair of ports in said cylinder, one communicating with eachsaid jet stream outlet, said ports adapted to be

1. IN COMBINATION WITH A GYROSCOPE, AN ERECTOR SYSTEM THEREOF, SAIDSYSTEM INCLUDING JET STREAM OUTLETS ARRANGED ABOUT MUTUALLYPERPENDICULAR AXES, MEANS FOR DIRECTING JET FLUID TO SAID OUTLETS, VALVEMEANS FOR CONTROLLING THE DISCHARGE OF JET FLUID FROM SELECTED OF SAIDOUTLETS, PENDULUM MEANS FOR OPERATING SAID VALVE MEANS, NEGATIVEFEEDBACK MEANS FOR OPPOSING MOVEMENT OF SAID PENDULUM MEANS, CONTAINERMEANS ENCLOSING THE GYROSCOPE AND ERECTOR SYSTEM, JET FLUID IN SAIDCONTAINER AND PUMPING MEANS WITHIN SAID CONTAINER FOR PUMPING THE JETFLUID THEREIN TO SAID DIRECTING MEANS.